Auto-assembled, not yet reviewed

PAROL6 Desktop Robot Arm

Open-source 3D-printed 6-DoF desktop arm with industrial-style control.

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
PAROL6 Desktop Robot Arm open-source 6-DoF robot arm, 3D render from PAROL6.urdf
main assembly 3D · PAROL6.urdf

About PAROL6 Desktop Robot Arm

PAROL6 is an open-source 3D-printed 6-DoF desktop robot arm by Source Robotics (PCrnjak). It pairs stepper-driven joints with a custom STM32 control board and ships a BOM (BOM/BOM.md since July 2026), STL files, a URDF, mounting plates and detailed build instructions, plus a Python API and the Commander control software with ROS 2 and MoveIt simulation. The STEP CAD is sold separately and is not open source, and the control board is sold rather than published.

Licenses

Hardware
GPL-3.0STL files only; the STEP CAD is proprietary
Software
GPL-3.0
Docs
GPL-3.0

Degrees of freedom

6 DoF arm 6

Breakdown source

Serial armsource

How to build PAROL6 Desktop Robot Arm

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Print the parts

    Print the STL parts in PETG, using the per-part settings in the print table PDF. Split versions of the largest parts are provided for smaller print beds.

    Motari summarygithub.com/Source-Robotics/PAROL6-Desktop-robot-arm/tree/mai...

  2. Source the BOM

    Order the steppers, bearings, belts and fasteners from the dedicated BOM folder.

    Upstream stepgithub.com/Source-Robotics/PAROL6-Desktop-robot-arm/blob/389...

  3. Assemble the joints

    Follow the building-instructions folder and video tutorials to assemble the six articulations.

    Motari summarygithub.com/Source-Robotics/PAROL6-Desktop-robot-arm/tree/mai...

  4. Build the control board

    Buy the PAROL6 control board (STM32F446RE) from Source Robotics; the board design is not published. Fit six TMC5160 drivers if bought without them, then flash the firmware with PlatformIO and an ST-Link.

    Motari summarygithub.com/Source-Robotics/PAROL6-Desktop-robot-arm/tree/mai...

  5. Calibrate and control

    Connect over USB, start PAROL6 Commander or the Python API and home the robot, then jog each joint. A separate ROS 2 and MoveIt simulation is available.

    Motari summarygithub.com/Source-Robotics/PAROL6-Desktop-robot-arm/tree/mai...
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

PAROL6 Desktop Robot Arm bill of materials

7 rows

Cost to build

€2,378.81EURvendor kit
  • PAROL6 kit, all parts except 3D printed parts and power supply€2,378.81vendor kit

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

PAROL6 Desktop Robot Arm parts, as the source lists them. Prices are the source's, not checked against vendors.

PAROL6 Desktop Robot Arm bill of materials
PartQtySpecSourceConfidence
Fastener setScrews and nuts section
1M2/M3/M4 socket-head, pan-head, tapered screws and M3 nuts; quantities listed in source PDF
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
Planetary gearbox setGearboxes section
1NEMA 17 EG precision planetary gearboxes: 20:1 x2 and 10:1 x1; cheaper MG alternatives noted by source PDF
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
Stepper motor setMotors section
1NEMA 17 steppers: 16 Ncm x1, 45 Ncm x3, 65 Ncm x2
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
Belt, pulley and coupler setBelts, pulleys and mechanical sections
1HTD3 belts for joints 1/3/4/5, HTD3M pulleys, and 8 mm shaft couplers
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
Bearing setBearings section
1AXK3552 x1, NSK HR32906J x5, NSK HR32907J x4, 3x8x4 tension bearings x20, 3x10x4 tension bearings x20
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
PAROL6 electronics setElectronics section
1PAROL control board, TMC5160 drivers x6, power button, fan, connectors, 24V 5A supply, limit/inductive sensors, STLink, USB cable, XT30 and related wiring hardware
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
high
Pneumatic gripper setElectronics and vacuum gripper sections
1MHZ2-16D pneumatic gripper, pneumatic connectors/tube, 5/2 solenoid valve, suction cup gripper, vacuum generator and 4mm-to-6mm coupler
you source it / vendors linked by the projectprice not listedPAROL6_BOM_4_4_2026.pdf at commit 896fa9f
med

Rows from the source's own parts list 8

BOM/PAROL6_BOM_4_4_2026.pdf@896fa9fpdf

Source rowQtyPrice and vendorLine
PAROL6 BOM PDF scope
vendor not listedno price listed
L1
Screws and nuts section
vendor not listedno price listed
L1
Gearboxes section
vendor not listedno price listed
L1
Motors section
vendor not listedno price listed
L1
Belts pulleys and mechanical section
vendor not listedno price listed
L1
Bearings section
vendor not listedno price listed
L1
Electronics section
vendor not listedno price listed
L1
Pneumatic and vacuum gripper section
vendor not listedno price listed
L1

PAROL6 Desktop Robot Arm source files

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

PAROL6 Desktop Robot Arm in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from PAROL6_URDF/PAROL6/urdf/PAROL6.urdf at 896fa9f.

Builds of PAROL6 Desktop Robot Arm

0 reviewed

No reviewed builds of PAROL6 Desktop Robot Arm yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to Source-Robotics/PAROL6-Desktop-robot-arm: 2026-09-07 (checked 2026-10-01)

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source BOM PDF 896fa9fd.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain PAROL6 Desktop Robot Arm? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 73/100

Markdown
[![Motari reproducibility score for PAROL6 Desktop Robot Arm](https://motari.io/api/v1/badge/parol6)](https://motari.io/r/parol6)
HTML
<a href="https://motari.io/r/parol6"><img src="https://motari.io/api/v1/badge/parol6" alt="Motari reproducibility score for PAROL6 Desktop Robot Arm" height="20"></a>

Not fully met yet: cad / mesh present (partial), wiring diagram (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed